1. Service Robots Kyler Tolman 12/9/2014

2. Definition Service robots assist human beings, typically by performing a job that is dirty, dull, distant, dangerous or repetitive, including household chores.

3. Types Indoor o Vacuum cleaners o Floor washing o Cat litter o Security Robots Outdoor o Lawn mowers o Pool cleaners o Gutter cleaning o Window cleaning

4. History

5. Mowbot Initially sold in 1969 Cost $700 ($4500 today) Used a buried perimeter cable for navigation Due to the high price the mower quickly faded into obscurity.

6. Current State In 2013, 4 million service robots for personal and domestic use were sold, 28% more than in 2012. As of 2013 iRobot alone has sold over 10 million home robots worldwide. The fastest growing market in robotics.

7. Where used

8. Vacuum Cleaners Largest segment of domestic robots First robot - Electrolux trilobite in 1997 Cost $1,400 Run time 1 hr. Used ultrasonic sensors for navigation Did not do well due to high price point

9. iRobot Roomba First launched in 2002 Cost $200 Uses simple bump sensors for navigation. Sold 50,000 units the first year, sold over a million by 2004. iRobot has sold more than 10 million robots by 2013

10. Costs No name brands - $150- $400 Roomba - $350 - $700 Dyson DC06 - $6000

11. Supporting Technology Roombas do not map out environment but use simple bump sensors and proximity sensors. Roombas incorporate spiraling, room crossing, wall following, and random walk angle to accomplish cleaning.

12. Supporting Technology Navigation Techniques o Spiraling o Wall following o Room Crossing o Random Walk angle Multiple passes ensure coverage of the floor

13. Supporting Technology Dyson has developed a proprietary machine vision system for their 360 Eye robot. Dyson has spent 16 years and over $47 million dollars in the development of this vacuum.

14. Supporting Technology Dyson’s 360 eye finds high contrast features in the room and uses them to triangulate its position.

15. Videos http://www.irobot.com/For-the-Home/Vacuum- Cleaning/Roomba.aspx http://www.irobot.com/For-the-Home/Vacuum- Cleaning/Roomba.aspx https://www.youtube.com/watch?v=2Ypt4BdQ3Co

16. Limitations Battery life Amount of time required to clean Cleaning pattern is somewhat random Robots can become trapped in corners, tangled on cords, sat on by cats etc…

17. Manufacturers

18. Robotic Lawn Mowers

19. Market has existed for over 20 years Almost all mowers use a buried boundary wire to mark off area to be mowed.

20. Costs $1200-$5000 for kit Husqvarna Automower - $2400 Robomow RC306 - $1200 Battery replacement and other maintenance can add additional costs.

21. Supporting Technologies Similar technology as used in AGV’s: guide wires, electromagnetic charging stations etc… GPS as well as machine vision are used in navigation

22. Limitations Battery life Has difficulty cutting tall grass Requires permanent boundary wire installation Difficulty to finding replacement parts Overall costs

23. Vendors

24. Other Service Robots Floor Mopping Window Cleaning Robots Pool Cleaning Gutter Cleaning

25. Paper Goth, Gregory – “I, Domestic Robot” Advances in sensor technology, specifically laser range finders, and faster algorithms are increasing domestic robots’ semantic and situational awareness. Falling hardware prices for sensors and processors are enabling more affordable domestic robots. The robot to the right, using machine vision was able to fold 50 out of 50 towels successfully.

26. Summary The domestic robot market is rapidly expanding Supporting technologies such as machine vision and navigation algorithms are allowing for more truly autonomous robots. Decreasing prices in supporting hardware such as sensors and processors are allowing for more affordable robots. This is an exciting field of robotics with a lot of opportunities.

27. References Goth, Gregory. "I, Domestic Robot." Communications Of The ACM 54.5 (2011): 16-17. Computers & Applied Sciences Complete. Web. 9 Dec. 2014. Wikipedia contributors. "Service robot." Wikipedia, The Free Encyclopedia. Wikipedia, The Free Encyclopedia, 10 Nov. 2014. Web. 10 Dec. 2014. http://en.wikipedia.org/wiki/Service_robothttp://en.wikipedia.org/wiki/Service_robot http://www.mowbotics.com.au/the-first-mowbot-1969-ezp-18.html Roomba, http://en.wikipedia.org/w/index.php?title=Roomba&oldid= 635793495http://en.wikipedia.org/w/index.php?title=Roomba&oldid= 635793495 http://www.husqvarna.com/us/products/robotic- mowers/automower-220-ac/ Layton, Julia. "How Robotic Vacuums Work." How Stuff Works (n.d.): n. pag. Web.